An Online Full-Body Motion Recognition Method Using Sparse and Deficient Signal Sequences

This paper presents a method to recognize continuous full-body human motion online by using sparse, low-cost sensors. The only input signals needed are linear accelerations without any rotation information, which are provided by four Wiimote sensors attached to the four human limbs. Based on the fused hidden Markov model (FHMM) and autoregressive process, a predictive fusion model (PFM) is put forward, which considers the different influences of the upper and lower limbs, establishes HMM for each part, and fuses them using a probabilistic fusion model. Then an autoregressive process is introduced in HMM to predict the gesture, which enables the model to deal with incomplete signal data. In order to reduce the number of alternatives in the online recognition process, a graph model is built that rejects parts of motion types based on the graph structure and previous recognition results. Finally, an online signal segmentation method based on semantics information and PFM is presented to finish the efficient recognition task. The results indicate that the method is robust with a high recognition rate of sparse and deficient signals and can be used in various interactive applications

Exome sequencing revealed PDE11A as a novel candidate gene for early-onset Alzheimer\u27s disease

To identify novel risk genes and better understand the molecular pathway underlying Alzheimer\u27s disease (AD), whole-exome sequencing was performed in 215 early-onset AD (EOAD) patients and 255 unrelated healthy controls of Han Chinese ethnicity. Subsequent validation, computational annotation and in vitro functional studies were performed to evaluate the role of candidate variants in EOAD. We identified two rare missense variants in the phosphodiesterase 11A (PDE11A) gene in individuals with EOAD. Both variants are located in evolutionarily highly conserved amino acids, are predicted to alter the protein conformation and are classified as pathogenic. Furthermore, we found significantly decreased protein levels of PDE11A in brain samples of AD patients. Expression of PDE11A variants and knockdown experiments with specific short hairpin RNA (shRNA) for PDE11A both resulted in an increase of AD-associated Tau hyperphosphorylation at multiple epitopes in vitro. PDE11A variants or PDE11A shRNA also caused increased cyclic adenosine monophosphate (cAMP) levels, protein kinase A (PKA) activation and cAMP response element-binding protein phosphorylation. In addition, pretreatment with a PKA inhibitor (H89) suppressed PDE11A variant-induced Tau phosphorylation formation. This study offers insight into the involvement of Tau phosphorylation via the cAMP/PKA pathway in EOAD pathogenesis and provides a potential new target for intervention

Breast cancer survival analysis with molecular subtypes : an initial step

As a predominant threat to women's health world-wide, breast cancer has become increasingly important in on-cology research. The discovery of molecular subtypes of breast cancer has led to more subtype oriented treatment and prognosis prediction. Effective prognosis models help to estimate the recurrence as well as the quality and duration of survival, leading to more personalized treatments. However, most traditional prognostic models either ignore molecular subtypes or only make limited use of them. The roles of molecular subtypes in the development and treatment of breast cancer have not been fully revealed. With the over 1200 cases collected by Sir Run Run Shaw Hospital of Zhejiang University in the past two decades, we aim to improve understanding of molecular subtypes and their impacts on the prognosis via data analysis in the long run. As the initial stage, this short paper presents our preliminary work of logistic regression experiments with the data. Though molecular subtypes have not been included the tentative model, they are to be explored further in following stages

Efficacy and safety of the compound Chinese medicine SaiLuoTong in vascular dementia: A randomized clinical trial

Introduction: No licensed medications are available to treat vascular dementia (VaD). Methods: Patients were randomly assigned to experimental groups (SaiLuoTong [SLT] 360 or 240 mg for groups A and B for 52 weeks, respectively) or placebo group (SLT 360 mg and 240 mg for group C only from weeks 27 to 52, respectively). Results: Three hundred twenty-five patients were included in final analysis. At week 26, the difference in VaD Assessment Scale-cognitive subscale scores was 2.67 (95% confidence interval, 1.54 to 3.81) for groups A versus C, and 2.48 (1.34 to 3.62) for groups B versus C (both Discussion: This study suggests that SLT is effective for treatment of VaD, and this compound Chinese medicine may represent a better choice to treat VaD

Equivalent Dynamic Analysis of a Cable-Driven Snake Arm Maintainer

In this paper, we investigate a design method for a cable-driven snake arm maintainer (SAM) and its dynamics modelling. A SAM can provide redundant degrees of freedom and high structural stiffness, as well as high load capacity and a simplified structure ideal for various narrow and extreme working environments, such as nuclear power plants. However, their serial-parallel configuration and cable drive system make the dynamics of a SAM strongly coupled, which is not conducive to accurate control. In this paper, we propose an equivalent dynamics modelling method for the strongly coupled dynamic characteristics of each joint cable. The cable traction dynamics are forcibly decoupled using force analysis and joint torque equivalent transformation. Then, the forcibly equivalent dynamic model is obtained based on traditional series robot dynamic modelling methods (Lagrangian method, etc.). To verify the correctness of the equivalent dynamics, a simple model-based controller is established. In addition, a SAM prototype is produced to collect joint angles and cable forces at different trajectories. Finally, the results of the equivalent dynamics control simulation and the prototype tests demonstrate the validity of the SAM structural design and the equivalent dynamics model

Wall-Climbing Mobile Robot for Inspecting DEMO Vacuum Vessel

The vacuum vessel (VV) inside and outside inspection of the Demonstration Fusion Power Plant (DEMO) is very difficult due to various constraints, such as non-magnet effect material requirements, constrained space, and neutrons on its surfaces. We propose a design method for wall-climbing mobile robots (WMR) based on the vortex principle and investigate key technologies to meet VV inspection requirements. We developed a kinematic model based on the robot’s motion control requirements and a trajectory tracking control algorithm according to the tractrix principle, enabling the robot to follow the path for autonomous inspection. The impeller is designed based on the vortex principle. The aerodynamic characteristics and structural strength of the impeller were also analysed and optimised. A sliding-mode robust pressure control system was designed for the robot’s negative pressure adsorption, and its effectiveness was verified by simulation. Finally, an initial test prototype verified the structural design and vortex adsorption performance. We also addressed the potential applications of the WMR in DEMO and other fusion reactors

Performance Analysis of Hybrid Kinematic Mechanism for Fusion Reactor Maintenance

The hybrid kinematic mechanism (HKM) as an alternative remote handling subsystem of the Demonstration Fusion Power Plant (DEMO) breeding blanket (BB) is undergoing extensive theoretical analysis and feasibility verification. In this paper, the forward and inverse kinematic models of the HKM are derived by combining the Newtonian iterative method and the analytical method. Cartesian space trajectory planning is designed based on the trajectories of the HKM lifting of inboard and outboard BBs. The continuous smooth inverse kinematic solutions in the HKM joint space are obtained based on the polynomial interpolation method. For the characteristics of the HKM piston thread driving, the end-effector position error caused by the degradation of the spherical joint into a universal joint is analyzed and calculated. During the lifting of the left inboard BB, there is a maximum absolute error ∆P = 3.1 mm, and as the error continues to expand to the bottom of the BB it causes a risk of collision. Combining the overall effects of driving control, rigid–flexible coupling, etc., on position accuracy, an open-loop variable parameter error compensation plan based on the Levenberg–Marquardt (LM) nonlinear damping least-squares algorithm is proposed and validated in this paper. The simulation results show that the maximum absolute error after compensation is less than 1 mm as the mesh density increases, and the absolute position accuracy can be further improved by local mesh encryption. This study verifies the feasibility of the HKM as a BB remote handling subsystem and provides an option for high-precision control of the HKM

Stitching Videos From Unstructured Camera Arrays With Rectangular Boundaries

This paper presents a novel warping based method to stitch videos from unstructured camera arrays. Our approach adopts a two-step energy optimization for video stitching. In the first step, we perform an initial stitching on keyframes, and then extract the boundary vertices and warped vertices as constraints for further optimization. In the second step, we design a global optimization to effectively propagate the stitching from the keyframe to other frames while ensuring the feature alignment, boundary regularity and temporal coherence. The optimization can be efficiently solved by a linear system, and the final stitching results are produced by warping and blending. Experimental results and comparisons show that our method can efficiently stitch multiple videos from unstructured camera arrays, and outperforms state-of-the-art methods

Performance Analysis of Hybrid Kinematic Mechanism for Fusion Reactor Maintenance

The hybrid kinematic mechanism (HKM) as an alternative remote handling subsystem of the Demonstration Fusion Power Plant (DEMO) breeding blanket (BB) is undergoing extensive theoretical analysis and feasibility verification. In this paper, the forward and inverse kinematic models of the HKM are derived by combining the Newtonian iterative method and the analytical method. Cartesian space trajectory planning is designed based on the trajectories of the HKM lifting of inboard and outboard BBs. The continuous smooth inverse kinematic solutions in the HKM joint space are obtained based on the polynomial interpolation method. For the characteristics of the HKM piston thread driving, the end-effector position error caused by the degradation of the spherical joint into a universal joint is analyzed and calculated. During the lifting of the left inboard BB, there is a maximum absolute error ∆P = 3.1 mm, and as the error continues to expand to the bottom of the BB it causes a risk of collision. Combining the overall effects of driving control, rigid–flexible coupling, etc., on position accuracy, an open-loop variable parameter error compensation plan based on the Levenberg–Marquardt (LM) nonlinear damping least-squares algorithm is proposed and validated in this paper. The simulation results show that the maximum absolute error after compensation is less than 1 mm as the mesh density increases, and the absolute position accuracy can be further improved by local mesh encryption. This study verifies the feasibility of the HKM as a BB remote handling subsystem and provides an option for high-precision control of the HKM

A Novel Wheel-Legged Hexapod Robot

Traditional mobile robots are mainly divided into wheeled robots and legged robots. They have good performance at fast-moving speeds and crossing obstacles, and weak terrain adaptability and moving speeds, respectively. Combining the advantages of these two types mentioned, a multi-functional wheel-legged hexapod robot with strong climbing capacity was designed in this paper. Each wheel-leg of the robot is driven directly by a single motor and can move smoothly and quickly in a diagonal tripod gait. Based on the obstacle-crossing way of the wheel-leg and combined with the characteristics of insects moving stably in nature, the middle part of the robot body is wider than head and tail. Tripod gait was selected to control the robot locomotion. A series of simulations and experiments were conducted to validate its excellent adaptability to various environmental conditions. The robot can traverse rugged, broken, and obstacle-ridden ground and cross rugged surfaces full of obstacles without any terrain sensing or actively controlled adaptation. It can negotiate obstacles of approximately its own height, which is much higher than its centre of gravity range